CN112230229A - Optical sensor and robot dust collector - Google Patents

Optical sensor and robot dust collector Download PDF

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Publication number
CN112230229A
CN112230229A CN202010503494.0A CN202010503494A CN112230229A CN 112230229 A CN112230229 A CN 112230229A CN 202010503494 A CN202010503494 A CN 202010503494A CN 112230229 A CN112230229 A CN 112230229A
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CN
China
Prior art keywords
leg member
end region
light
inner end
imaginary line
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010503494.0A
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Chinese (zh)
Inventor
小浦健太郎
小西拓郎
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Makita Corp
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Makita Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Makita Corp filed Critical Makita Corp
Publication of CN112230229A publication Critical patent/CN112230229A/en
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/30—Arrangement of illuminating devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

The invention provides an optical sensor and a robot dust collector, which can prevent the strength of leg parts from being insufficient and prevent the detection precision from being reduced. The optical sensor includes a rotating body that rotates about a rotation axis; a light emitter provided on the rotating body; a light receiver provided on the rotating body; a cover member disposed above the rotating body; and a leg member which is disposed around the rotating body and supports the cover member. In a cross section orthogonal to the rotation axis, at least a part of a surface of the leg member is inclined with respect to an imaginary line extending in a radiation direction of the rotation axis.

Description

Optical sensor and robot dust collector
Technical Field
The invention relates to an optical sensor and a robot dust collector.
Background
In the cleaning work, a robot dust collector as disclosed in patent document 1 is used. The robot dust collector collects dust while traveling autonomously. The robot dust collector includes an optical sensor for detecting surrounding objects.
Documents of the prior art
Patent document
Patent document 1: U.S. patent application publication No. 2017/0296021 specification
Disclosure of Invention
The optical sensor includes: a rotating body that rotates around a rotating shaft; a light emitter provided on the rotating body; a light receiver provided on the rotating body; a cover member disposed above the rotating body; and a leg member which is disposed around the rotating body and supports the cover member. A plurality of leg members are provided at intervals around the rotating body. The detection light emitted from the light emitter is irradiated to the surrounding object through the space between the adjacent leg members. The detection light reflected by the object passes through the space between the adjacent leg members and enters the light receiver. If the leg member is too thick, the passage of the detection light is obstructed, and the detection accuracy of the optical sensor may be lowered. If the leg member is too thin, the strength of the leg member may be insufficient. If the leg members are insufficient in strength, the leg members are likely to be deformed or broken when the cover member comes into contact with a surrounding object, for example.
An object of an aspect of the present invention is to suppress a decrease in detection accuracy while suppressing a lack of strength of leg members.
According to an aspect of the present invention, there is provided an optical sensor including: a rotating body that rotates around a rotation axis; a light emitter provided to the rotating body; a light receiver provided on the rotating body; a cover member disposed above the rotating body; and a leg member that is disposed around the rotating body and supports the cover member, wherein at least a part of a surface of the leg member is inclined with respect to an imaginary line extending in a radiation direction of the rotating shaft in a cross section orthogonal to the rotating shaft.
Effects of the invention
According to the aspect of the present invention, the strength shortage of the leg member can be suppressed, and the decrease in the detection accuracy can be suppressed.
Drawings
Fig. 1 is a perspective view showing a robot dust collector according to a first embodiment.
Fig. 2 is a plan view showing the robot dust collector according to the first embodiment.
Fig. 3 is a bottom view of the robot dust collector according to the first embodiment.
Fig. 4 is a side view showing the robot cleaner according to the first embodiment.
Fig. 5 is a sectional view showing the robot cleaner according to the first embodiment.
Fig. 6 is a block diagram showing the robot cleaner according to the first embodiment.
Fig. 7 is a perspective view showing a part of the optical sensor according to the first embodiment.
Fig. 8 is a perspective view showing a part of the optical sensor according to the first embodiment.
Fig. 9 is a perspective view of the optical sensor according to the first embodiment, with a part broken away.
Fig. 10 is a sectional view showing the rotating body and the leg member according to the first embodiment.
Fig. 11 is a cross-sectional view schematically showing the light emitter, the light receiver, and the leg member according to the first embodiment.
Fig. 12 is a side view schematically showing a caster according to the first embodiment.
Fig. 13 is an exploded perspective view showing the caster according to the first embodiment.
Fig. 14 is a sectional view showing a side brush according to the first embodiment.
Fig. 15 is a cross-sectional view schematically showing a light emitter, a light receiver, and leg members according to the second embodiment.
Fig. 16 is a cross-sectional view schematically showing a light emitter, a light receiver, and leg members according to a third embodiment.
Fig. 17 is a cross-sectional view schematically showing a light emitter, a light receiver, and leg members according to a fourth embodiment.
Fig. 18 is a cross-sectional view schematically showing a light emitter, a light receiver, and leg members according to a fifth embodiment.
Fig. 19 is a cross-sectional view schematically showing a light emitter, a light receiver, and leg members according to a fifth embodiment.
Fig. 20 is a sectional view schematically showing a leg member according to the fifth embodiment.
Fig. 21 is a cross-sectional view schematically showing a leg member according to a modification of the fifth embodiment.
Fig. 22 is a sectional view schematically showing a leg member according to a modification of the fifth embodiment.
Fig. 23 is a cross-sectional view schematically showing a light emitter, a light receiver, and leg members according to a sixth embodiment.
Fig. 24 is a cross-sectional view schematically showing a light emitter, a light receiver, and leg members according to a seventh embodiment.
Description of the symbols
1 … robot dust collector, 2 … body, 2a … upper surface, 2B … bottom surface, 2C … side surface, 3 … bumper, 4 … battery assembling part, 5 … fan unit, 5a … housing, 5B … suction fan, 5C … suction motor, 5D … air inlet, 5E … air outlet, 6 … dust box, 7 … caster, 8 … roller, 9 … wheel, 10 … wheel motor, 11 … housing, 11a … upper housing, 11B … lower housing, 11Bs … support shaft, 11C … cover, 11D … bottom plate, 12 … walking device, 15 … suction inlet, 16 … main brush, 16B … brush, 16R …, 17 … main brush motor, 3618 side brush, 18B … brush, 18D circular plate part, 18S …, 19 … side brush, 19B … side brush, 3630 handle 30, …, power supply screw button device, … display …, … display device, …, 3630 display device, and 3641, 42 falling prevention sensor, 42B falling prevention sensor, 42F falling prevention sensor, 42L falling prevention sensor, 42R falling prevention sensor, 43 parts sensor, 50 optical sensor, 51 rotating body, 51A ceiling part, 51B side plate part, 51C holding plate part, 51D first opening, 51E second opening, 52 cover part, 53 supporting part, 54 connecting part, 54A opening, 61 light emitter, 62 light receiver, 63 light emitting surface, 64 light receiving surface, 70 leg part, 70A first leg part, 70B second leg part, 70C third leg part, 70S inner end, 70T outer end, 71 first side surface, 71A inner end, 71B outer end, 72 second side surface, 72A inner end, 72B outer end, 73 inner surface, 74 outer surface, 75 … inner end region, 75a … first inner end region, 75B … second inner end region, 75Sa … inner end, 75Sb … inner end, 75Ta … outer end, 75Tb … outer end, 76 … outer end region, 76a … first outer end region, 76B … second outer end region, 76Sa … inner end, 76Sb … inner end, 76Ta … outer end, 76Tb … outer end, 77 … plane, 78 … plane, 81 … rotating member, 81a … hole, 81B … hole, 81C … hole, 82 … rotating shaft, 83 … wheel, 83a BT 72 hole, 84 … pin, 85 … recess, 86 … stop ring, 91 … rotating shaft, 92 … bearing, 93 … gear portion, 94 … gear box, 100 … controller, 181 … inner cylinder portion, 182 … first outer cylinder portion, 183 … second outer rotating shaft, AX …, BX …, DX …, CX DX …, DX … rotating shaft, DX …, EX …, and EX …, FL … cleans the object surface, RL … virtual line, RT … arrow, Xa … optical axis, Xb … optical axis.
Detailed Description
[ first embodiment ]
< robot dust collector >
Fig. 1 is a perspective view showing a robot dust collector 1 according to the present embodiment. Fig. 2 is a plan view showing the robot dust collector 1 according to the present embodiment. Fig. 3 is a bottom view of the robot dust collector 1 according to the present embodiment. Fig. 4 is a side view showing the robot dust collector 1 according to the present embodiment. Fig. 5 is a sectional view showing the robot dust collector 1 according to the present embodiment. Fig. 6 is a block diagram showing the robot cleaner 1 according to the present embodiment.
In the present embodiment, the positional relationship of the respective portions will be described using terms of "left", "right", "front", "rear", "upper" and "lower". These terms represent relative positions or directions with reference to the center of the robot cleaner 1.
The robot dust collector 1 collects dust while autonomously traveling on the cleaning target surface FL. As shown in fig. 1, 2, 3, 4, 5, and 6, the robot dust collector 1 includes: the main body 2, the bumper 3, the battery mounting portion 4, the fan unit 5, the dust box 6, the caster 7, the roller 8, the traveling device 12, the main brush 16, the main brush motor 17, the side brush 18, the side brush motor 19, the handle 20, the interface device 30, the obstacle sensor 41, the fall prevention sensor 42, the component sensor 43, the optical sensor 50, and the controller 100.
The main body 2 has: an upper surface 2A; a bottom surface 2B facing the cleaning target surface FL; and a side surface 2C connecting a peripheral edge of the upper surface 2A and a peripheral edge of the bottom surface 2B. The outer shape of the body 2 is substantially circular in a plane parallel to the upper surface 2A.
The main body 2 includes a housing 11 having an inner space. The housing 11 includes: an upper case 11A; a lower case 11B disposed below the upper case 11A and connected to the upper case 11A; a cover plate 11C attached to the upper case 11A so as to be openable and closable; and a bottom plate 11D fitted to the lower case 11B. The upper surface 2A is disposed on the upper case 11A and the cover plate 11C. The bottom surface 2B is disposed on the lower case 11B and the bottom plate 11D.
The main body 2 has a suction port 15. Suction port 15 is provided in bottom plate 11D. The suction port 15 is provided in front of the bottom surface 2B. The suction port 15 faces the cleaning target surface FL. The suction port 15 sucks in dust on the cleaning target surface FL.
The damper 3 is movable in a state of facing at least a part of the side surface 2C. The damper 3 is movably supported by the main body 2. The bumper 3 is opposed to the front portion of the side face 2C. The damper 3 moves relative to the main body 2 when it collides with an object existing around the robot dust collector 1, thereby alleviating the impact applied to the main body 2.
The battery mounting portion 4 supports the battery BT. The battery BT is mounted on the battery mounting portion 4. The battery mounting portion 4 is provided on at least a part of the outer surface of the main body 2. A recess is provided at the rear of the upper housing 11A. The battery mounting portion 4 is provided inside the recess of the upper case 11A. The battery mounting portion 4 is provided with 2.
The battery BT is mounted on the battery mounting portion 4 and supplies power to the electric device or the electronic device mounted on the robot dust collector 1. The battery BT is a general-purpose battery that can be used as a power source for various electrical devices. The battery BT can be used as a power source of the electric power tool. The battery BT can also be used as a power source for electric devices other than the electric power tool. The battery BT can also be used as a power source for another dust collector different from the robot dust collector 1 according to the present embodiment. The battery BT includes a lithium ion battery. The battery BT is a rechargeable battery that can be charged. The battery mounting portion 4 has a structure similar to that of a battery mounting portion of an electric power tool.
The fan unit 5 is disposed in the internal space of the housing 11. The fan unit 5 generates a suction force for sucking dust at the suction port 15. The fan unit 5 generates suction force at the suction port 15 via the dust box 6. As shown in fig. 5, the fan unit 5 includes: a case 5A disposed in the internal space of the housing 11; a suction fan 5B disposed inside the casing 5A; and a suction motor 5C that generates power for rotating the suction fan 5B. The housing 5A has: an air inlet 5D connected to the dust box 6, and an air outlet 5E.
The dust box 6 is disposed in the inner space of the housing 11. The dust box 6 collects and stores the dust sucked from the suction port 15.
The cover plate 11C is attached to be able to open and close an opening provided in the upper case 11A. A user of the robot dust collector 1 can take out the dust box 6 from the internal space of the housing 11 through the opening of the upper housing 11A or can store the dust box 6 in the internal space of the housing 11.
The caster 7 and the roller 8 support the main body 2 so that the main body 2 can move. The caster 7 and the roller 8 are rotatably supported by the main body 2. The rear portion of the bottom surface 2B is provided with 2 casters 7. A caster 7 is provided at the left portion of the main body 2. The other caster 7 is provided at the right portion of the main body 2. In front of the bottom surface 2B, 1 roller 8 is provided.
The traveling device 12 moves the main body 2 at least one of forward and backward. The running gear 12 comprises wheels 9 and wheel motors 10.
The wheels 9 support the main body 2 in such a manner that the main body 2 can move. The wheel 9 rotates about a rotation axis AX extending in the left-right direction. At least a part of the wheel 9 protrudes downward from the bottom surface 2B. In a state where the wheels 9 are provided on the cleaning surface FL, the bottom surface 2B of the main body 2 and the cleaning surface FL face each other with a gap therebetween. The wheels 9 are provided with 2. One wheel 9 is provided at the left portion of the main body 2. The other wheel 9 is provided at the right portion of the main body 2.
The wheel motor 10 generates power to rotate the wheel 9. The wheel motor 10 is driven by electric power supplied from the battery BT. The wheel motor 10 is disposed in the inner space of the housing 11. The wheel motor 10 is provided with 2. One wheel motor 10 generates power for rotating a wheel 9 provided at the left portion of the main body 2. The other wheel motor 10 generates power for rotating the wheel 9 provided on the right portion of the main body 2. The robot dust collector 1 is made to travel autonomously by the rotation of the wheels 9.
The main brush 16 is disposed in the suction port 15. The main brush 16 faces the cleaning target surface FL. The main brush 16 rotates about a rotation axis BX extending in the left-right direction. The main brush 16 has: a rod member 16R extending in the left-right direction, and a plurality of brushes 16B connected to an outer surface of the rod member 16R. The lever member 16R is rotatably supported by the main body 2 at each of left and right ends thereof. The lever member 16R is supported by the main body 2 such that at least a part of the brush 16B protrudes downward from the bottom surface 2B. In a state where the wheels 9 are provided on the cleaning target surface FL, at least a part of the main brush 16 is in contact with the cleaning target surface FL.
The main brush motor 17 generates power to rotate the main brush 16. The main brush motor 17 is driven by electric power supplied from the battery BT. The main brush motor 17 is disposed in the internal space of the housing 11. The main brush 16 is rotated by the driving of the main brush motor 17. The rotation of the main brush 16 scrapes off dust present on the cleaning target surface FL, and the dust is sucked through the suction port 15.
The side brush 18 is disposed in front of the bottom surface 2B. The side brush 18 faces the cleaning target surface FL. At least a part of the side brush 18 is disposed forward of the main body 2. The side brushes 18 are provided in 2 numbers. One side brush 18 is provided on the left side of the suction port 15. The other side brush 18 is disposed at a position further to the right than the suction port 15. The side brush 18 has: a disk member 18D, and a plurality of brushes 18B radially connected to the disk member 18D. The disk member 18D is rotatably supported by the main body 2. The disk member 18D is supported by the main body 2 so that at least a part of the brush 18B protrudes outward from the side surface 2C. In a state where the wheels 9 are provided on the cleaning target surface FL, at least a part of the side brush 18 is in contact with the cleaning target surface FL.
The side brush motor 19 generates power for rotating the side brush 18. The side brush motor 19 is driven by electric power supplied from the battery BT. The side brush motor 19 is disposed in the internal space of the housing 11. The side brush 18 is rotated by the driving of the side brush motor 19. The side brush 18 rotates to move dust present on the cleaning surface FL around the main body 2 toward the suction port 15.
The handle 20 is provided at the front of the upper housing 11A. One end and the other end of the handle 20 are rotatably connected to the upper case 11A. The user of the robot dust collector 1 can hold the handle 20 and pick up the robot dust collector 1. The user of the robot dust collector 1 can carry the robot dust collector 1.
The interface device 30 is disposed at the rear of the cover plate 11C. The interface device 30 includes a plurality of operation units and a plurality of display units that are operated by a user of the robot dust collector 1. As an operation portion of the interface device 30, a power button 30A can be exemplified. The display unit of the interface device 30 may be exemplified by a remaining battery capacity display unit 30B of the battery BT.
The obstacle sensor 41 detects an object existing in at least a part of the periphery of the robot dust collector 1 in a non-contact manner. The obstacle Sensor 41 includes an Ultrasonic Sensor (Ultrasonic Sensor) that emits Ultrasonic waves to detect an object. A plurality of obstacle sensors 41 are provided at intervals on the side surface 2C of the main body 2. The controller 100 controls the wheel motor 10 to change the traveling direction of the traveling device 12 or stop traveling based on the detection data of the obstacle sensor 41 so that the body 2 or the bumper 3 does not contact the object. Further, the controller 100 may change the traveling direction of the traveling device 12 or stop traveling after the body 2 or the bumper 3 comes into contact with the object.
The drop-prevention sensor 42 detects whether or not the cleaning target surface FL is present within a range of a predetermined distance from the bottom surface 2B in a non-contact manner. The fall prevention sensor 42 includes an optical sensor that emits detection light to detect an object. The drop-prevention sensor 42 is disposed on the bottom surface 2B. As shown in fig. 3, the falling preventive sensor 42 includes: a fall prevention sensor 42F provided in front of the bottom surface 2B; a fall prevention sensor 42B provided at the rear of the bottom surface 2B; a drop-prevention sensor 42L provided on the left portion of the bottom surface 2B; and a fall prevention sensor 42R provided at a right portion of the bottom surface 2B. The drop-prevention sensor 42 detects the distance to the cleaning target surface FL by emitting the detection light downward. When it is determined based on the detection data of the fall-prevention sensor 42 that the cleaning target surface FL is not present within the range of the predetermined distance from the bottom surface 2B, the controller 100 controls the wheel motor 10 to stop the traveling of the traveling device 12.
The member sensor 43 detects the partition member provided on the cleaning target surface FL in a non-contact manner. The component sensor 43 includes an optical sensor that emits detection light to detect an object. The component sensor 43 is disposed on the bottom surface 2B. As shown in fig. 3, a plurality of component sensors 43 are disposed at intervals in front of the bottom surface 2B. The partition member is disposed at an arbitrary position on the cleaning target surface FL by the user of the robot dust collector 1. As the partition member, a reflection band including a reflective material can be exemplified. The member sensor 43 detects the partition members by emitting the detection light downward. As the partition member, a reflection band including a reflective material can be exemplified. The controller 100 controls the wheel motor 10 based on the detection data of the component sensor 43 to cause the traveling device 12 to travel so as not to exceed the partition component.
< optical sensor >
The optical sensor 50 emits detection light to detect an object around the main body 2 in a non-contact manner. In the present embodiment, the optical sensor 50 includes a laser sensor (LIDAR) that detects an object by emitting laser Light. Further, the optical sensor 50 may include: an infrared sensor that detects an object by emitting infrared light or a RADAR sensor (RADAR) that detects an object by emitting Radio waves. The optical sensor 50 is disposed at the rear of the upper case 11A.
Fig. 7 is a perspective view showing a part of the optical sensor 50 according to the present embodiment. Fig. 8 is a perspective view showing a part of the optical sensor 50 according to the present embodiment. Fig. 9 is a perspective view of the optical sensor 50 according to the present embodiment, with a part broken away. As shown in fig. 5, 7, 8, and 9, the optical sensor 50 includes: a rotating body 51 that rotates about a rotation axis CX; a light emitter 61 provided on the rotating body 51; a light receiver 62 provided on the rotating body 51; a cover member 52 disposed above the rotating body 51; a leg member 70 disposed around the rotating body 51 and supporting the cover member 52; a support member 53 that supports the leg member 70; and a coupling member 54 that supports the support member 53.
As shown in fig. 7, the rotating body 51 includes: a top plate 51A, a side plate 51B, and a holding plate 51C. The top plate 51A, the side plate 51B, and the holding plate 51C define an internal space of the rotor 51. Light emitter 61 and light receiver 62 are disposed in the internal space of rotating body 51. The top plate 51A is disposed above the light emitter 61 and the light receiver 62. The side plate 51B is disposed around the light emitter 61 and the light receiver 62. The side plate 51B includes: a first opening 51D through which the detection light emitted from the light emitter 61 passes, and a second opening 51E through which the detection light incident toward the light receiver 62 passes. The holding plate 51C is disposed below the top plate 51A and the side plate 51B. The light emitter 61 and the light receiver 62 are held by the holding plate portion 51C.
The rotating body 51 rotates while holding the light emitter 61 and the light receiver 62. The rotation axis CX of the rotating body 51 is orthogonal to the upper surface 2A of the main body 2. The rotation axis CX extends in the vertical direction. In a cross section orthogonal to the rotation axis CX, the outer shape of the rotating body 51 is circular.
The cover member 52 protects the rotating body 51. In a cross section orthogonal to the rotation axis CX, the outer shape of the cover member 52 is circular. The diameter of the cover member 52 is larger than that of the rotating body 51.
The leg member 70 is disposed below the cover member 52. The plurality of leg members 70 are provided around the rotating body 51 at intervals. In the present embodiment, 4 leg members 70 are provided around the rotating body 51.
The support member 53 is disposed below the leg member 70. At least a part of the support member 53 is disposed around the rotating body 51. In a cross section orthogonal to the rotation axis CX, the outer shape of the support member 53 is circular. The diameter of the support member 53 is larger than that of the rotating body 51.
The connecting member 54 is disposed below the support member 53. At least a part of the coupling member 54 protrudes outward from the outer surface of the support member 53 in the radiation direction of the rotation axis CX.
The coupling member 54 is coupled to the rear portion of the upper case 11A. The connecting member 54 has an opening 54A in which a bolt is disposed. The coupling member 54 and at least a part of the upper case 11A are fixed by bolts.
The cover member 52, the leg member 70, the support member 53, and the connecting member 54 are integrated. The upper end of the leg member 70 is connected to the peripheral edge of the cover member 52. The lower end of the leg member 70 is connected to the peripheral edge of the support member 53. The cover member 52, the leg member 70, the support member 53, and the coupling member 54 are each made of synthetic resin.
The cover member 52 and the leg member 70 may be separate members. The leg member 70 and the support member 53 may be separate members. The support member 53 and the coupling member 54 may be separate members. The material of the cover member 52 and the material of the leg member 70 may be different. For example, the cover member 52 may be made of synthetic resin, and the leg member 70 may be made of metal.
The support member 53 and the coupling member 54 may be omitted. The lower end portion of the leg part 70 may be connected to the upper case 11A. The rotating body 51 may be rotatably supported at a portion of the upper housing 11A.
Fig. 10 is a sectional view showing the rotary body 51 and the leg member 70 according to the present embodiment. Fig. 10 shows a cross section perpendicular to the rotation axis CX. As shown in fig. 9 and 10, the light emitter 61 and the light receiver 62 are provided on the rotating body 51, respectively.
The light emitter 61 emits detection light. The light emitter 61 emits laser light as detection light. The light emitter 61 has a light emitting surface 63 that emits detection light. The detection light emitted from the light-emitting surface 63 passes through the space between the adjacent leg members 70 and is irradiated to the object around the main body 2.
The light receiver 62 receives at least a part of the detection light emitted from the light emitter 61. The light receiver 62 has a light receiving surface 64 on which the detection light is incident. At least a part of the detection light emitted from the light emitter 61 and irradiated to the object is reflected by the object. The detection light reflected by the object is incident toward the light receiving surface 64 through the space between the adjacent leg members 70. The controller 100 detects the presence or absence of an object around the main body 2 based on the detection light received by the light receiver 62. The light receiver 62 detects the distance to the object based on the detection light received by the light receiver 62.
The light-emitting surface 63 and the light-receiving surface 64 are disposed above the upper surface 2A of the main body 2. The detection light emitted forward from the light-emitting surface 63 is irradiated toward the object in front of the main body 2 through a space above the upper surface 2A of the main body 2. When the detection light is irradiated to the object in front of the main body 2, the detection light reflected by the object passes through a space above the upper surface 2A of the main body 2 and enters the light receiving surface 64. The optical sensor 50 can detect an object in front of the main body 2 without being obstructed by the main body 2.
The light emitter 61 and the light receiver 62 are fixed to the rotating body 51. The rotating body 51 rotates about the rotation axis CX while holding the light emitter 61 and the light receiver 62. The light emitter 61 emits detection light in a state where the rotating body 51 is rotating. The light receiver 62 receives the detection light in a state where the rotating body 51 rotates. In a state where the rotating body 51 is rotating, the light emitter 61 emits the detection light, whereby the detection light is irradiated toward the object around the main body 2. The controller 100 can detect an object around the main body 2 based on the detection light received by the light receiver 62.
In the present embodiment, the rotating body 51 rotates in a predetermined rotational direction indicated by an arrow RT in fig. 10. In the following description, the direction indicated by the arrow RT is appropriately referred to as a forward rotation side, and the direction opposite to the direction indicated by the arrow RT is appropriately referred to as a reverse rotation side.
Fig. 11 is a cross-sectional view schematically showing the light emitter 61, the light receiver 62, and the leg member 70 according to the present embodiment. As shown in fig. 11, the light-emitting surface 63 of the light emitter 61 and the light-receiving surface 64 of the light receiver 62 are disposed at different positions in the rotation direction of the rotating body 51. In the present embodiment, the light-emitting surface 63 is disposed on the forward rotation side of the light-receiving surface 64. The light-emitting surface 63 is disposed on one side of the rotation axis CX (on the right side of the rotation axis CX in the example shown in fig. 11), and the light-receiving surface 64 is disposed on the other side of the rotation axis CX (on the left side of the rotation axis CX in the example shown in fig. 11).
In a cross section orthogonal to the rotation axis CX, the optical axis Xa of the optical system of the light emitter 61 is inclined with respect to the virtual line RL of the rotation axis CX. In a cross section orthogonal to the rotation axis CX, an optical axis Xb of the optical system of the light receiver 62 is inclined with respect to a virtual line RL of the rotation axis CX. The imaginary line RL refers to: a line passing through the rotation axis CX and extending in the radiation direction of the rotation axis CX in a cross section orthogonal to the rotation axis CX. In the present embodiment, the optical axis Xa is inclined from the light-emitting surface 63 to the reverse side toward the outside. The optical axis Xb is inclined outward from the light receiving surface 64 toward the forward rotation side.
As described above, in the present embodiment, the light emitter 61 emits laser light as the detection light. The light flux of the detection light emitted from the light emitter 61 coincides with the optical axis Xa of the light emitter 61. At least a part of the light flux of the detection light incident toward the light receiver 62 coincides with the optical axis Xb of the light receiver 62.
In a cross section orthogonal to the rotation axis CX, at least a part of the surface of the leg member 70 is inclined with respect to the imaginary line RL.
In a cross section orthogonal to the rotation axis CX, the leg member 70 has a rectangular outer shape. In a cross section orthogonal to the rotation axis CX, the surface of the leg member 70 includes: a first side 71, a second side 72 parallel to the first side 71, an inner surface 73, and an outer surface 74. The first side surface 71 and the second side surface 72 are inclined with respect to the imaginary line RL.
The first side 71 faces in the opposite direction of the second side 72. The inner surface 73 faces in the opposite direction of the outer surface 74. In the present embodiment, the first side surface 71 faces the reverse side. The second side 72 faces the forward rotation side. The inner surface 73 faces the radiation direction inner side of the rotation axis CX. The outer surface 74 faces outward in the radiation direction of the rotation axis CX. The distance between the first side 71 and the second side 72 is shorter than the distance between the inner surface 73 and the outer surface 74.
The first side surface 71 has: an inner end portion 71A on the innermost side in the radiation direction of the rotation axis CX, and an outer end portion 71B on the outermost side in the radiation direction of the rotation axis CX. The first side surface 71 is inclined such that the inner end 71A is disposed on the normal rotation side of the outer end 71B. The second side surface 72 has: an inner end portion 72A on the innermost side in the radiation direction of the rotation axis CX, and an outer end portion 72B on the outermost side in the radiation direction of the rotation axis CX. The second side surface 72 is inclined such that the inner end 72A is disposed on the normal rotation side of the outer end 72B.
In a cross section orthogonal to the rotation axis CX, an inclination angle theta of the first side surface 71 with respect to the imaginary line RL and an inclination angle theta of the second side surface 72 with respect to the imaginary line RL are 5 DEG to 85 DEG inclusive. The inclination angle theta can be 20 DEG or more and 70 DEG or less. The inclination angle theta may be 30 DEG to 40 deg. The inclination angle θ may be determined based on the inclination angle of the optical axis Xa of the light emitter 61 with respect to the imaginary line RL.
In the present embodiment, at least one of the first side surface 71 and the second side surface 72 is inclined so as to be parallel to the optical axis Xa of the light emitter 61 in a state where at least a part of the leg member 70 faces the light emitting surface 63 of the light emitter 61. In the example shown in fig. 11, when the first side surface 71 and the optical axis Xa overlap each other in the cross section orthogonal to the rotation axis CX, the first side surface 71 and the optical axis Xa are parallel to each other. Further, when the second side surface 72 overlaps the optical axis Xa in a cross section orthogonal to the rotation axis CX, the second side surface 72 and the optical axis Xa may be parallel.
In the present embodiment, the plurality of leg members 70 have the same shape and size. The leg members 70 are inclined at the same direction and angle θ with respect to the imaginary line RL.
According to the present embodiment, in a state where at least a part of the leg member 70 faces the light emitting surface 63 of the light emitter 61, the first side surface 71 and the second side surface 72 are parallel to the optical axis Xa of the light emitter 61, respectively, and therefore, the blocking of the detection light emitted from the light emitting surface 63 by the leg member 70 can be suppressed. For example, even if the outer shape of the leg member 70 is increased and the distance between the first side surface 71 and the second side surface 72 is increased, the time for which the detection light emitted from the light-emitting surface 63 is blocked by the leg member 70 when the rotating body 51 rotates does not increase. Since the detection light emitted from the light-emitting surface 63 is favorably irradiated toward the object, the detection accuracy of the optical sensor 50 can be suppressed from being lowered. Further, by increasing the outer shape of the leg member 70 so that the distance between the first side surface 71 and the second side surface 72 becomes longer, the strength shortage of the leg member 70 can be suppressed.
< Caster >
Fig. 12 is a side view schematically showing the caster 7 according to the present embodiment. Fig. 13 is an exploded perspective view showing the caster 7 according to the present embodiment. The caster 7 is provided at the rear of the bottom surface 2B. The caster 7 is coupled to the lower case 11B.
The caster 7 has: a rotating member 81 rotatably coupled to the lower case 11B; a wheel 83 fitted to the rotating member 81 via a shaft 82; and a pin 84 fitted to the rotating member 81.
The rotating member 81 rotates about a rotation axis DX extending in the vertical direction. The lower case 11B has: the rotating member 81 is supported as a rotatable support shaft 11 Bs. The support shaft 11Bs protrudes downward from the bottom surface 2B of the main body 2. The rotating member 81 includes: a hole 81A into which the support shaft 11Bs is inserted. The hole 81A is provided in the upper surface of the rotating member 81. In a state where the support shaft 11Bs is disposed in the hole 81A, the rotating member 81 can rotate about the rotation axis DX.
As shown in fig. 13, a recess 85 is provided in a part of the rotating member 81. The rotating member 81 includes: and holes 81B provided on both sides of the recess 85.
The wheel 83 has a hole 83A into which the shaft 82 is inserted. The wheels 83 are disposed in the recess 85. In a state where the wheel 83 is disposed in the recess 85, the shaft 82 is inserted into the hole 81B of the rotating member 81 and the hole 83A of the wheel 83, respectively. In a state where the shaft 82 is disposed in the hole 81B of the rotating member 81 and the hole 83A of the wheel 83, the front end of the shaft 82 and the wheel 83 are fixed by the snap ring 86.
The pin 84 is inserted into: a hole 81C provided in the rotating member 81. The hole 81C is provided in the upper surface of the rotating member 81. The hole 81C is provided outside the hole 81A in the radiation direction of the rotation axis DX. The number of the holes 81C is 2. The pins 84 are inserted into the 2 holes 81C, respectively. The pin 84 is inserted into the hole 81C such that an upper end portion of the pin 84 protrudes above the upper surface of the rotating member 81.
The hardness of the pin 84 is higher than that of the rotating member 81. The pin 84 is less prone to wear than the rotating member 81. In the present embodiment, the pin 84 is made of metal. The rotating member 81 is made of synthetic resin.
In a state where the pin 84 is inserted into the hole 81C, an upper end portion of the pin 84 contacts the bottom surface 2B. In the present embodiment, the upper end portion of the pin 84 is disposed above the upper surface of the rotating member 81. Therefore, contact between the upper surface of the rotating member 81 and the bottom surface 2B can be suppressed.
The rotating member 81 rotates in a state where the upper end of the pin 84 contacts the bottom surface 2B. Even if the rotating member 81 rotates, the upper surface and the bottom surface 2B of the rotating member 81 do not rub against each other. Therefore, wear of the rotating member 81 can be suppressed. The pin 84 is made of metal and is less prone to wear than the rotating member 81. Therefore, even if the rotating member 81 rotates, the deterioration of the pin 84 can be suppressed.
In a state where the pin 84 is inserted into the hole 81C, the upper end of the pin 84 and the upper surface of the rotating member 81 may be arranged at the same height. In a state where the upper end of the pin 84 is in contact with the bottom surface 2B, the upper surface of the rotating member 81 can be in contact with the bottom surface 2B.
< side brush >
Fig. 14 is a sectional view showing the side brush 18 according to the present embodiment. The side brush 18 has: a disk member 18D, and brushes 18B radially connected to the disk member 18D. The disk member 18D is disposed in the lower case 11B. The disk member 18D rotates about a rotation axis EX extending in the vertical direction.
The lower surface of the disc member 18D faces the cleaning target surface FL. The lower surface of the disk member 18D includes a curved surface. The lower surface of the disc member 18D is inclined upward outward in the radial direction of the rotation axis EX. In a cross section parallel to the rotation axis EX, the lower surface of the disk member 18D is in the shape of an arc projecting downward. In the present embodiment, the lower surface of the disk member 18D is spherical.
Since the lower surface of the disk member 18D includes the curved surface, even if the lower surface of the disk member 18D comes into contact with the cleaning target surface FL, it is possible to suppress: the rotation of the disk member 18D is hindered, or the cleaning target surface FL is damaged. For example, when the cleaning target surface FL is a carpet surface, the disc member 18D can be prevented from being embedded in the carpet. Even if the lower surface of the disk member 18D contacts the carpet surface, the increase in the rotational resistance of the disk member 18D can be suppressed. Further, in the case where the robot dust collector 1 travels on the cleaning target surface FL by the traveling device 12, even if the lower surface of the disc member 18D comes into contact with the cleaning target surface FL, the disc member 18D is prevented from being caught on the cleaning target surface FL. Therefore, the robot dust collector 1 can smoothly travel on the cleaning target surface FL.
As shown in fig. 14, the robot cleaner 1 includes: a rotating shaft 91 disposed in the inner space of the housing 11; a bearing 92 that rotatably supports the rotating shaft 91; a gear portion 93 connected to the rotation shaft 91; and a gear case 94 disposed around the gear portion 93 in the internal space of the housing 11. The gear box 94 supports the bearing 92.
The power generated by the side brush motor 19 is transmitted to the rotating shaft 91 via the gear portion 93. The rotation shaft 91 is rotated about the rotation shaft EX by driving the side brush motor 19.
The disk member 18D is coupled to the rotating shaft 91. The disk member 18D is fixed to the lower end of the rotating shaft 91 by a screw 18S. The side brush 18 is rotated about the rotation axis EX by the rotation of the rotation shaft 91.
The disk member 18D includes: an inner cylinder part 181 into which the lower end of the rotating shaft 91 is inserted; a first outer tube part 182 disposed around the inner tube part 181; and a second outer tube section 183 disposed around the first outer tube section 182.
The height of the upper end surface of the inner tube portion 181 is equal to the height of the upper end surface of the first outer tube portion 182. Further, the upper end surface of the first outer tube portion 182 may be disposed at a higher position than the upper end surface of the inner tube portion 181. The upper end surface of the second outer tube section 183 is disposed at a position lower than the upper end surface of the inner tube section 181 and the upper end surface of the first outer tube section 182.
A part of the gear case 94 is disposed in a space between the inner cylinder 181 and the first outer cylinder 182. The gear case 94 and the circular plate member 18D do not contact. A part of the gear case 94 and the outer peripheral surface of the inner cylindrical portion 181 face each other with a slight gap therebetween. A part of the gear case 94 and the upper end surface of the first outer tube 182 face each other with a slight gap therebetween. A first labyrinth seal is formed between the gear case 94 and the inner cylinder portion 181 and the first outer cylinder portion 182.
A part of the lower housing 11B is disposed in a space between the first outer tube section 182 and the second outer tube section 183. The lower case 11B and the circular plate member 18D do not contact. A part of the lower housing 11B and the outer peripheral surface of the first outer tube portion 182 face each other with a slight gap therebetween. A part of the lower housing 11B and the upper end surface of the second outer tube section 183 face each other with a slight gap therebetween. A second labyrinth is formed between the first outer tube section 182 and the second outer tube section 183 and the lower housing 11B.
By forming the labyrinth seal, it is possible to suppress the intrusion of foreign matter into the periphery of the rotating shaft 91. If a foreign matter in the form of hair or thread present on the cleaning target surface FL comes into contact with the rotating shaft 91, the rotation of the rotating shaft 91 may be hindered. In the present embodiment, a labyrinth seal is formed around the rotating shaft 91. Therefore, the entry of the hair-like foreign matter into the periphery of the rotating shaft 91 can be suppressed.
< Effect >
As described above, according to the present embodiment, in the cross section orthogonal to the rotation axis CX of the rotating body 51, at least a part of the surface of the leg member 70 is inclined with respect to the virtual line RL of the rotation axis CX. Therefore, even if the cross-sectional area of the leg member 70 is large, the time during which the detection light emitted from the light-emitting surface 63 is blocked by the leg member 70 when the rotating body 51 rotates does not increase. Since the detection light can be prevented from being blocked by the leg member 70, the detection accuracy of the optical sensor 50 can be prevented from being lowered. Further, by increasing the sectional area of the leg member 70, the leg member 70 can be prevented from being insufficient in strength.
In the present embodiment, in a state where at least a part of the leg member 70 faces the light emitting surface 63 of the light emitter 61, the first side surface 71 and the second side surface 72 are parallel to the optical axis Xa of the light emitter 61. Therefore, for example, even if the outer shape of the leg member 70 is increased so that the distance between the first side surface 71 and the second side surface 72 is increased, the time during which the detection light emitted from the light-emitting surface 63 is blocked by the leg member 70 during the rotation of the rotating body 51 is not increased. Therefore, the detection accuracy of the optical sensor 50 can be suppressed from being lowered. Further, by increasing the outer shape of the leg member 70 so that the distance between the first side surface 71 and the second side surface 72 becomes longer, it is possible to suppress the lack of strength of the leg member 70.
< modification example >
In the above-described embodiment, the plurality of leg members 70 may have different inclination angles θ with respect to the imaginary line RL. For example, the inclination angle θ of the first leg member 70 may be 30[ ° ], and the inclination angle θ of the second leg member 70 may be 35[ ° ].
In the above embodiment, 4 leg members 70 are provided. The number of leg members 70 may be 2, 3, or any number of 5 or more around the rotating body 51.
In the above-described embodiment, the first side 71 and the second side 72 may not be parallel.
[ second embodiment ]
A second embodiment will be explained. In the following description, the same or equivalent constituent elements as those of the above-described embodiment are denoted by the same reference numerals, and the description thereof is simplified or omitted.
< optical sensor >
Fig. 15 is a cross-sectional view schematically showing the light emitter 61, the light receiver 62, and the leg member 70 according to the present embodiment. As in the above-described embodiment, in the cross section orthogonal to the rotation axis CX, the surface of the leg member 70 includes: a first side 71, a second side 72 parallel to the first side 71, an inner surface 73, and an outer surface 74. The first side surface 71 and the second side surface 72 are inclined with respect to the imaginary line RL.
In the present embodiment, the first side surface 71 is inclined such that the inner end 71A is disposed on the reverse side of the outer end 71B. The second side surface 72 is inclined such that the inner end 72A is disposed on the reverse side of the outer end 72B.
In a cross section orthogonal to the rotation axis CX, an inclination angle theta of the first side surface 71 with respect to the imaginary line RL and an inclination angle theta of the second side surface 72 with respect to the imaginary line RL are 5 DEG to 85 DEG inclusive. The inclination angle theta can be 20 DEG or more and 70 DEG or less. The inclination angle theta may be 30 DEG to 40 deg. The inclination angle θ can be determined based on the inclination angle of the optical axis Xb of the light receiver 62 with respect to the imaginary line RL.
In the present embodiment, at least one of the first side surface 71 and the second side surface 72 is inclined so as to be parallel to the optical axis Xb of the light receiver 62 in a state where at least a part of the leg member 70 faces the light receiving surface 64 of the light receiver 62. In the example shown in fig. 15, when the second side surface 72 overlaps the optical axis Xb in the cross section orthogonal to the rotation axis CX, the second side surface 72 is parallel to the optical axis Xb. Further, when the first side face 71 and the optical axis Xb overlap in the cross section orthogonal to the rotation axis CX, the first side face 71 and the optical axis Xb may be parallel.
In the present embodiment, the plurality of leg members 70 have the same shape and size. The leg members 70 are inclined at the same direction and angle θ with respect to the imaginary line RL.
< Effect >
As described above, according to the present embodiment, in a state where at least a part of the leg member 70 faces the light receiving surface 64 of the light receiver 62, the first side surface 71 and the second side surface 72 are parallel to the optical axis Xb of the light receiver 62, respectively, and therefore, it is possible to suppress the detection light reflected by the object from being blocked by the leg member 70. For example, even if the outer shape of the leg member 70 is increased so that the distance between the first side surface 71 and the second side surface 72 becomes longer, the time during which the detection light reflected by the object is blocked by the leg member 70 when the rotating body 51 rotates does not become longer. Since the detection light reflected by the object is incident toward the light receiving surface 64, a decrease in detection accuracy of the optical sensor 50 can be suppressed. Further, by increasing the outer shape of the leg member 70 so that the distance between the first side surface 71 and the second side surface 72 becomes longer, the strength shortage of the leg member 70 can be suppressed.
< modification example >
In the above-described embodiment, the plurality of leg members 70 may have different inclination angles θ with respect to the imaginary line RL. For example, the inclination angle θ of the first leg member 70 may be 30[ ° ], and the inclination angle θ of the second leg member 70 may be 35[ ° ].
In the above embodiment, 4 leg members 70 are provided. The number of leg members 70 may be 2, 3, or any number of 5 or more around the rotating body 51.
In the above-described embodiment, the first side 71 and the second side 72 may not be parallel.
[ third embodiment ]
A third embodiment will be explained. In the following description, the same or equivalent constituent elements as those of the above-described embodiment are denoted by the same reference numerals, and the description thereof is simplified or omitted.
Fig. 16 is a cross-sectional view schematically showing the light emitter 61, the light receiver 62, and the leg member 70 according to the present embodiment. As shown in fig. 16, the leg member 70 includes: a first leg member 70A and a second leg member 70B having different inclination directions. In the example shown in fig. 16, the first leg member 70A and the second leg member 70B are alternately arranged around the rotation axis CX.
The first side surface 71 of the first leg member 70A is inclined such that the inner end 71A is disposed on the normal rotation side of the outer end 71B. The second side surface 72 of the first leg member 70A is inclined such that the inner end 72A is disposed on the normal rotation side of the outer end 72B.
The first side surface 71 of the second leg member 70B is inclined such that the inner end portion 71A is disposed on the reverse side of the outer end portion 71B. The second side surface 72 of the second leg member 70B is inclined such that the inner end portion 72A is disposed on the reverse side of the outer end portion 72B.
At least one of the first side surface 71 and the second side surface 72 of the first leg member 70A is inclined so as to be parallel to the optical axis Xa of the light emitter 61 in a state where at least a part of the first leg member 70A faces the light emitting surface 63 of the light emitter 61.
At least one of the first side surface 71 and the second side surface 72 of the second leg member 70B is inclined so as to be parallel to the optical axis Xb of the light receiver 62 in a state where at least a part of the second leg member 70B faces the light receiving surface 64 of the light receiver 62.
As explained above, the inclination directions of the plurality of leg members 70 with respect to the imaginary line RL may be different. In the present embodiment, the strength of the leg member 70 can be suppressed from being insufficient, and the detection accuracy can be suppressed from being lowered.
[ fourth embodiment ]
A fourth embodiment will be explained. In the following description, the same or equivalent constituent elements as those of the above-described embodiment are denoted by the same reference numerals, and the description thereof is simplified or omitted.
Fig. 17 is a cross-sectional view schematically showing the light emitter 61, the light receiver 62, and the leg member 70 according to the present embodiment. As shown in fig. 17, the leg member 70 includes: a first leg member 70A, a second leg member 70B, and a third leg member 70C. The inclination direction of the first leg member 70A and the inclination direction of the second leg member 70B are the same as the inclination direction of the first leg member 70A and the inclination direction of the second leg member 70B described in the third embodiment. The first side surface 71 and the second side surface 72 of the third leg member 70C are parallel to the imaginary line RL, respectively.
As explained above, a part of the plurality of leg members 70 may be inclined with respect to the imaginary line RL, and a part of the leg members 70 may not be inclined with respect to the imaginary line RL. In the present embodiment, the strength of the leg member 70 can be suppressed from being insufficient, and the detection accuracy can be suppressed from being lowered.
[ fifth embodiment ]
A fifth embodiment will be explained. In the following description, the same or equivalent constituent elements as those of the above-described embodiment are denoted by the same reference numerals, and the description thereof is simplified or omitted.
< optical sensor >
Fig. 18 and 19 are sectional views schematically showing the light emitter 61, the light receiver 62, and the leg member 70 according to the present embodiment, respectively. Fig. 20 is a sectional view schematically showing a leg member 70 according to the present embodiment. Fig. 18 shows a state in which the leg member 70 is opposed to the light-emitting surface 63 by the rotation of the rotating body 51. Fig. 19 shows a state in which the leg member 70 is opposed to the light receiving surface 64 by the rotation of the rotating body 51.
In the present embodiment, the surface of the leg member 70 includes: the inner end region 75 including the inner end portion 70S of the leg member 70 in the radiation direction of the rotation axis CX. The inner end region 75 is inclined with respect to the imaginary line RL.
As shown in fig. 18 and 20, the inner end region 75 includes: and a first inner end region 75A inclined so as to be parallel to the optical axis Xa of the light emitter 61 in a state where at least a part of the leg member 70 faces the light emitting surface 63 of the light emitter 61. As shown in fig. 19 and 20, the inner end region 75 includes: and a second inner end region 75B inclined so as to be parallel to the optical axis Xb of the light receiver 62 in a state where at least a part of the leg member 70 faces the light receiving surface 64 of the light receiver 62.
In addition, the surface of the leg member 70 includes: the outer end region 76 including the outer end portion 70T of the leg member 70 in the radiation direction of the rotation axis CX.
The outer end region 76 includes: a first outer end region 76A connected to the first inner end region 75A and inclined in a direction opposite to the first inner end region 75A with respect to the imaginary line RL; and a second outer end region 76B connected to the second inner end region 75B and inclined in a direction opposite to the second inner end region 75B with respect to the imaginary line RL.
The first inner end region 75A and the first outer end region 76A face the reverse side. The second inner end region 75B and the second outer end region 76B face the forward rotation side.
The inner end portion 75Sa of the first inner end region 75A includes the inner end portions 70S of the leg members 70. The outer end portion 75Ta of the first inner end region 75A is connected to the inner end portion 76Sa of the first outer end region 76A. The outer end 76Ta of the first outer end region 76A comprises the outer end 70T of the leg member 70. The inner end portion 75Sa of the first inner end region 75A is disposed on the normal rotation side with respect to the outer end portion 75Ta of the first inner end region 75A. The inner end portion 76Sa of the first outer end region 76A is disposed on the inversion side of the outer end portion 76Ta of the first outer end region 76A.
The inner end portion 75Sb of the second inner end region 75B includes the inner end portion 70S of the leg member 70. An outer end 75Tb of the second inner end region 75B is connected with an inner end 76Sb of the second outer end region 76B. The outer end portion 76Tb of the second outer end region 76B includes the outer end portion 70T of the leg member 70. The inner end portion 75Sb of the second inner end region 75B is arranged on the reverse side of the outer end portion 75Tb of the second inner end region 75B. The inner end portion 76Sb of the second outer end region 76B is disposed on the normal rotation side with respect to the outer end portion 76Tb of the second outer end region 76B.
The inner end region 75 is linear in a cross section orthogonal to the rotation axis CX. In a cross section orthogonal to the rotation axis CX, the outer end region 76 is curved.
< Effect >
As described above, according to the present embodiment, in the cross section orthogonal to the rotation axis CX of the rotating body 51, at least a part of the surface of the leg member 70 is inclined with respect to the virtual line RL of the rotation axis CX. Therefore, even if the cross-sectional area of the leg member 70 is large, the time during which the detection light emitted from the light-emitting surface 63 is blocked by the leg member 70 when the rotating body 51 rotates does not increase. Since the detection light can be prevented from being blocked by the leg member 70, the detection accuracy of the optical sensor 50 can be prevented from being lowered. Further, by increasing the sectional area of the leg member 70, the leg member 70 can be prevented from being insufficient in strength.
In the present embodiment, the inner end region 75 and the outer end region 76 are defined on the surface of the leg member 70. The inner end region 75 is inclined with respect to the virtual line RL, and thus the detection light can be prevented from being blocked by the leg member 70. Further, since the outer end region 76 is inclined in the direction opposite to the inner end region 75 with respect to the virtual line RL, the leg member 70 can more effectively prevent the detection light from being blocked by the detection light during the rotation of the rotating body 51.
The inner end region 75 includes a first inner end region 75A and a second inner end region 75B. Accordingly, in a state where the leg member 70 faces the light emitting surface 63 of the light emitter 61 and a state where the leg member 70 faces the light receiving surface 64 of the light receiver 62, the blocking of the detection light by the leg member 70 can be suppressed.
The outer end region 76 includes a first outer end region 76A and a second outer end region 76B. Accordingly, in a state where the leg member 70 faces the light emitting surface 63 of the light emitter 61 and a state where the leg member 70 faces the light receiving surface 64 of the light receiver 62, the blocking of the detection light by the leg member 70 can be suppressed.
< modification example >
In this embodiment, the outer end region 76 may not be inclined in the opposite direction of the inner end region 75. The outer end region 76 may be parallel to, for example, an imaginary line RL.
Fig. 21 is a sectional view schematically showing a leg member 70 according to a modification of the present embodiment. The leg member 70 includes on its surface: a first inner end region 75A including the inner end portion 70S of the leg member 70 in the radiation direction of the rotation axis CX; and a first outer end region 76A which contains the outer end 70T of the leg member 70 in the radiation direction of the rotation axis CX. The first inner end region 75A is inclined so as to be parallel to the optical axis Xa of the light emitter 61 in a state where at least a part of the leg member 70 faces the light emitting surface 63 of the light emitter 61. The first outer end region 76A is inclined in the opposite direction of the first inner end region 75A with respect to the imaginary line RL. In the example shown in fig. 21, the surface of the leg member 70 includes a plane 77 parallel to the imaginary line RL. Like the example shown in fig. 21, the surface of the leg member 70 may include a flat surface 77. In addition, in the example shown in fig. 21, the first outer end region 76A may not be inclined in the opposite direction of the first inner end region 75A. The first outer end region 76A may be parallel to, for example, the imaginary line RL.
Fig. 22 is a sectional view schematically showing a leg member 70 according to a modification of the present embodiment. The leg member 70 includes on its surface: a second inner end region 75B including the inner end portion 70S of the leg member 70 in the radiation direction of the rotation axis CX; and a second outer end region 76B which contains the outer end 70T of the leg member 70 in the radiation direction of the rotation axis CX. The second inner end region 75B is inclined so as to be parallel to the optical axis Xb of the light receiver 62 in a state where at least a part of the leg member 70 faces the light receiving surface 64 of the light receiver 62. The second outer end region 76B is inclined in the opposite direction of the second inner end region 75B with respect to the imaginary line RL. In the example shown in fig. 22, the surface of the leg member 70 includes a plane 78 parallel to the imaginary line RL. Like the example shown in fig. 22, the surface of the leg member 70 may include a flat surface 78. Further, in the example shown in fig. 22, the second outer end region 76B may not be inclined in the opposite direction to the second inner end region 75B. The second outer end region 76B may be parallel to, for example, the imaginary line RL.
[ sixth embodiment ]
A sixth embodiment will be explained. In the following description, the same or equivalent constituent elements as those of the above-described embodiment are denoted by the same reference numerals, and the description thereof is simplified or omitted.
Fig. 23 is a cross-sectional view schematically showing the light emitter 61, the light receiver 62, and the leg member 70 according to the present embodiment. As shown in fig. 23, the leg member 70 is rotatable in a cross section orthogonal to the rotation axis CX. The plurality of leg members 70 are rotatable, respectively.
The leg member 70 rotates such that at least one of the first side surface 71 and the second side surface 72 is parallel to the optical axis Xa of the light emitter 61 in a state of facing the light emitting surface 63 of the light emitter 61. The leg member 70 rotates such that at least one of the first side surface 71 and the second side surface 72 is parallel to the optical axis Xb of the light receiver 62 in a state of facing the light receiving surface 64 of the light receiver 62.
As described above, according to the present embodiment, the leg member 70 can be rotated based on the position in the rotation direction of the rotating body 51 so that the detection light emitted from the light-emitting surface 63 is not blocked by the leg member 70 for a long time when the rotating body 51 is rotated. In addition, the leg member 70 can be rotated based on the position in the rotational direction of the rotating body 51 so that the time during which the detection light reflected by the object is blocked by the leg member 70 during the rotation of the rotating body 51 does not become long. In the present embodiment, the strength of the leg member 70 can be suppressed from being insufficient, and the detection accuracy can be suppressed from being lowered.
[ seventh embodiment ]
A seventh embodiment will be explained. In the following description, the same or equivalent constituent elements as those of the above-described embodiment are denoted by the same reference numerals, and the description thereof is simplified or omitted.
Fig. 24 is a cross-sectional view schematically showing the light emitter 61, the light receiver 62, and the leg member 70 according to the present embodiment. As shown in fig. 24, the leg member 70 is rotatable around the rotation axis CX. In the present embodiment, the cover member 52 and the leg member 70 are integrated and can rotate about the rotation axis CX. The cover member 52 and the leg member 70 are rotatable relative to the support member 53 and the connecting member 54.
In the present embodiment, the cover member 52 and the leg member 70 are rotated so that the leg member 70 is not disposed: an optical path of the detection light emitted from the light emitter 61 and an optical path of the detection light incident on the light receiver 62. In the present embodiment, the strength of the leg member 70 can be suppressed from being insufficient, and the detection accuracy can be suppressed from being lowered.

Claims (12)

1. An optical sensor, comprising:
a rotating body that rotates around a rotation axis;
a light emitter provided to the rotating body;
a light receiver provided on the rotating body;
a cover member disposed above the rotating body; and
a leg member disposed around the rotating body and supporting the cover member, wherein the leg member is provided with a plurality of legs,
in a cross section orthogonal to the rotation axis, at least a part of a surface of the leg member is inclined with respect to an imaginary line extending in a radiation direction of the rotation axis.
2. The optical sensor of claim 1,
the leg member surface includes: a first side and a second side parallel to the first side,
the first side surface and the second side surface are each inclined with respect to the imaginary line.
3. The optical sensor of claim 2,
the inclination angle of the first side surface with respect to the imaginary line and the inclination angle of the second side surface with respect to the imaginary line are 5 DEG to 85 DEG inclusive.
4. The optical sensor of claim 2,
the optical axis of the light emitter is inclined with respect to the imaginary line,
at least one of the first side surface and the second side surface is inclined so as to be parallel to the optical axis in a state where at least a part of the leg member faces a light-emitting surface of the light emitter.
5. The optical sensor of claim 2,
the optical axis of the light receiver is inclined with respect to the imaginary line,
at least one of the first side surface and the second side surface is inclined so as to be parallel to the optical axis in a state where at least a part of the leg member faces a light receiving surface of the light receiver.
6. The optical sensor of claim 1,
the leg member surface includes: an inner end region including inner ends of the leg members in a radial direction of the rotation axis,
the inner end region is inclined with respect to the imaginary line.
7. The optical sensor of claim 6,
the optical axis of the light emitter is inclined with respect to the imaginary line,
the inner end region is inclined so as to be parallel to the optical axis in a state where at least a part of the leg member faces a light-emitting surface of the light emitter.
8. The optical sensor of claim 6,
the optical axis of the light receiver is inclined with respect to the imaginary line,
the inner end region is inclined so as to be parallel to the optical axis in a state where at least a part of the leg member faces the light receiving surface of the light receiver.
9. The optical sensor according to claim 7 or 8,
the leg member surface includes: an outer end region including outer ends of the leg members in a radial direction of the rotation axis,
the outer end region is inclined in an opposite direction to the inner end region with respect to the imaginary line.
10. The optical sensor of claim 6,
the optical axis of the light emitter is inclined with respect to the imaginary line,
the optical axis of the light receiver is inclined with respect to the imaginary line,
the inner end region includes: a first inner end region inclined so as to be parallel to an optical axis of the light emitter in a state where at least a part of the leg member faces a light emitting surface of the light emitter; and a second inner end region inclined so as to be parallel to an optical axis of the light receiver in a state where at least a part of the leg member faces a light receiving surface of the light receiver.
11. The optical sensor of claim 10,
the leg member surface includes: an outer end region including outer ends of the leg members in a radial direction of the rotation axis,
the outer end region includes: a first outer end region connected to the first inner end region and inclined in a direction opposite to the first inner end region with respect to the imaginary line; and a second outer end region connected to the second inner end region and inclined in an opposite direction to the second inner end region with respect to the imaginary line.
12. A robot dust collector is characterized by comprising:
a battery mounting portion to which a general-purpose battery can be mounted; and
the optical sensor of any one of claims 1 to 11.
CN202010503494.0A 2019-06-28 2020-06-05 Optical sensor and robot dust collector Pending CN112230229A (en)

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JP7231503B2 (en) 2023-03-01
KR20210001932A (en) 2021-01-06
US11517167B2 (en) 2022-12-06
EP3756523A3 (en) 2021-03-24
US20200405111A1 (en) 2020-12-31
EP3756523A2 (en) 2020-12-30
AU2020204280A1 (en) 2021-01-21

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